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Project: <a href="http://ros.org/wiki/par_trajectory_planning">par_trajectory_planning</a>
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<h1>/home/wouter/ros_packages/thp-pj2-08/par_trajectory_planning/include/par_trajectory_planning/config.h</h1>  </div>
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<a href="config_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00005"></a>00005 <span class="preprocessor">#ifndef _CONFIG_H_</span>
<a name="l00006"></a>00006 <span class="preprocessor"></span><span class="preprocessor">#define _CONFIG_H_</span>
<a name="l00007"></a>00007 <span class="preprocessor"></span>
<a name="l00011"></a><a class="code" href="config_8h.html#a232ebdd956c37feeb9e561ca247c94e2">00011</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a232ebdd956c37feeb9e561ca247c94e2">XYZ_DIV_FACTOR</a> = 16;
<a name="l00012"></a><a class="code" href="config_8h.html#a93188324f4ddec8d3bdac778e12231ba">00012</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a93188324f4ddec8d3bdac778e12231ba">X</a> = 0;
<a name="l00013"></a><a class="code" href="config_8h.html#a4245f3c5e8eb90ade09427f989b098ec">00013</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a4245f3c5e8eb90ade09427f989b098ec">Y</a> = 1;
<a name="l00014"></a><a class="code" href="config_8h.html#ad6a5acba3306c0d145b10acd89c52126">00014</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#ad6a5acba3306c0d145b10acd89c52126">Z</a> = 2;
<a name="l00015"></a>00015 
<a name="l00020"></a><a class="code" href="config_8h.html#aa1cc4a54df959fcc4152e206023c0aae">00020</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#aa1cc4a54df959fcc4152e206023c0aae">MENU_INIT_COMM</a>    = 1;
<a name="l00021"></a><a class="code" href="config_8h.html#a195b55192f1d4a5c03500638d2c6044e">00021</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a195b55192f1d4a5c03500638d2c6044e">MENU_INIT_MOTOR</a>   = 2;
<a name="l00022"></a><a class="code" href="config_8h.html#adc3d5d02c1db33ab0f61c24fe07fc975">00022</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#adc3d5d02c1db33ab0f61c24fe07fc975">MENU_CONF_SIN_MOT</a> = 3;
<a name="l00023"></a><a class="code" href="config_8h.html#ae844d735df671eb4356a12b1869e2544">00023</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#ae844d735df671eb4356a12b1869e2544">MENU_CONF_PTP_MOT</a> = 4;
<a name="l00024"></a><a class="code" href="config_8h.html#acb5981f28c67e690db6ff45b9fda5a94">00024</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#acb5981f28c67e690db6ff45b9fda5a94">MENU_RD_CONF_FILE</a> = 5;
<a name="l00025"></a><a class="code" href="config_8h.html#a1de71d5b137d4766a729c476ef68f3cf">00025</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a1de71d5b137d4766a729c476ef68f3cf">MENU_START_MOT</a>    = 6;
<a name="l00026"></a><a class="code" href="config_8h.html#ad7942e9282bfcc8dd77636877f60efb9">00026</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#ad7942e9282bfcc8dd77636877f60efb9">MENU_STOP_MOT</a>     = 7;
<a name="l00027"></a><a class="code" href="config_8h.html#a3847d2f21d6500c9366ac3ffc58dd169">00027</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a3847d2f21d6500c9366ac3ffc58dd169">MENU_START_HM</a>     = 8;
<a name="l00028"></a><a class="code" href="config_8h.html#af9e2ad4aa40ff8319eb5e8f8982cbf95">00028</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#af9e2ad4aa40ff8319eb5e8f8982cbf95">MENU_START_TEST</a>   = 9;
<a name="l00029"></a><a class="code" href="config_8h.html#a26dd0accd561b4bfe425571ecd1b1429">00029</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a26dd0accd561b4bfe425571ecd1b1429">MENU_EXIT</a>         = 0;
<a name="l00030"></a>00030 
<a name="l00034"></a><a class="code" href="config_8h.html#a2055321b80999b0cd236f4f934a9dd9c">00034</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a2055321b80999b0cd236f4f934a9dd9c">MODBUS_MAX_PROC_TIME</a>  = 4000;  <span class="comment">// in usec</span>
<a name="l00035"></a><a class="code" href="config_8h.html#a5eeba5b71a3abb83274b07913815b1ca">00035</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a5eeba5b71a3abb83274b07913815b1ca">MODBUS_MAX_BCAST_TIME</a> = 7500;  <span class="comment">// in usec</span>
<a name="l00036"></a><a class="code" href="config_8h.html#a0e7d142f439ef16108ba22027eb48357">00036</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a0e7d142f439ef16108ba22027eb48357">MODBUS_TIMEOUT_BEGIN</a>  = 50000; <span class="comment">// in usec</span>
<a name="l00037"></a><a class="code" href="config_8h.html#a3df61e3eabec943575590ea9afa7ba89">00037</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a3df61e3eabec943575590ea9afa7ba89">MODBUS_TIMEOUT_END</a>    = 50000;
<a name="l00038"></a><a class="code" href="config_8h.html#ac005ae1021923c6a1e42b0040b1870d6">00038</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#ac005ae1021923c6a1e42b0040b1870d6">MODBUS_SLAVE_ADDR_01</a>  = 0x01;
<a name="l00039"></a><a class="code" href="config_8h.html#a24562b230331cfd7c8661641bd339c95">00039</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#a24562b230331cfd7c8661641bd339c95">MODBUS_SLAVE_ADDR_02</a>  = 0x02;
<a name="l00040"></a><a class="code" href="config_8h.html#ae58cb2aa8d03cd0343cf58341571128f">00040</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="config_8h.html#ae58cb2aa8d03cd0343cf58341571128f">MODBUS_SLAVE_ADDR_03</a>  = 0x03;
<a name="l00041"></a>00041 
<a name="l00045"></a><a class="code" href="config_8h.html#ad8a5d0e0b619e6dc15bd84dd338f805c">00045</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#ad8a5d0e0b619e6dc15bd84dd338f805c">MOTOR_OP_SPEED_UP</a> = 0xA120; 
<a name="l00046"></a><a class="code" href="config_8h.html#ab95f25fc2b325b0febe3fcb46d5c6ac1">00046</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#ab95f25fc2b325b0febe3fcb46d5c6ac1">MOTOR_OP_SPEED_LO</a> = 0x0007;
<a name="l00047"></a><a class="code" href="config_8h.html#adad7fcb6e9b89cc421ec70f838efea8a">00047</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#adad7fcb6e9b89cc421ec70f838efea8a">MOTOR_ST_SPEED_UP</a> = 0x03E8;
<a name="l00048"></a><a class="code" href="config_8h.html#a23dab04f2afaf76b6c0f34571a046481">00048</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a23dab04f2afaf76b6c0f34571a046481">MOTOR_ST_SPEED_LO</a> = 0x0000;
<a name="l00049"></a><a class="code" href="config_8h.html#a1f042e592f30e895f0e208638bc3c782">00049</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a1f042e592f30e895f0e208638bc3c782">MOTOR_ACC_UP</a>      = 0x1388;
<a name="l00050"></a><a class="code" href="config_8h.html#aa7d1af2ddbd04215bc91d5920e3a9d25">00050</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#aa7d1af2ddbd04215bc91d5920e3a9d25">MOTOR_ACC_LO</a>      = 0x0000;
<a name="l00051"></a><a class="code" href="config_8h.html#a6d01bebd179d01c2d89014e7193edfb4">00051</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a6d01bebd179d01c2d89014e7193edfb4">MOTOR_DEC_UP</a>      = 0x1388;
<a name="l00052"></a><a class="code" href="config_8h.html#a559e71a5ab59fc849998a0b3bb2b4cc5">00052</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a559e71a5ab59fc849998a0b3bb2b4cc5">MOTOR_DEC_LO</a>      = 0x0000;
<a name="l00053"></a><a class="code" href="config_8h.html#ad4984464598237a917da7f4d07a9fae3">00053</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#ad4984464598237a917da7f4d07a9fae3">MOTOR_OPM_SINGLE</a>  = 0x0000;
<a name="l00054"></a><a class="code" href="config_8h.html#a6ea6f3010b70bcb03373cfdfd0a65bc7">00054</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a6ea6f3010b70bcb03373cfdfd0a65bc7">MOTOR_OPM_LINK1</a>   = 0x0001;
<a name="l00055"></a><a class="code" href="config_8h.html#a663ea682cb2ed22f31693b7459e1cfce">00055</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a663ea682cb2ed22f31693b7459e1cfce">MOTOR_OPM_LINK2</a>   = 0x0002;
<a name="l00056"></a><a class="code" href="config_8h.html#a3f5c85ceab799325b1e6b85345f473f9">00056</a> <span class="keyword">const</span> <span class="keywordtype">double</span>   <a class="code" href="config_8h.html#a3f5c85ceab799325b1e6b85345f473f9">MOTOR_STEP_ANGLE</a>  = 0.072;
<a name="l00057"></a>00057 
<a name="l00061"></a><a class="code" href="config_8h.html#a0f86d5ed3706f8be146e8a00b3c636a3">00061</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a0f86d5ed3706f8be146e8a00b3c636a3">REG_MOTOR_ST_SPEED</a> = 0x0228; <span class="comment">// 0 bytes offset, starting speed motor.</span>
<a name="l00062"></a><a class="code" href="config_8h.html#a7c2af378114c1e7f984da9db6a36194a">00062</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a7c2af378114c1e7f984da9db6a36194a">REG_MOTOR_POS</a>      = 0x0400; <span class="comment">// 2 bytes per offset, motor position.</span>
<a name="l00063"></a><a class="code" href="config_8h.html#a12921b667d601782d605651f6db2937b">00063</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a12921b667d601782d605651f6db2937b">REG_MOTOR_OP_SPEED</a> = 0x0500; <span class="comment">// 2 bytes per offset, motor operating speed.</span>
<a name="l00064"></a><a class="code" href="config_8h.html#aff7913b34a2ee2dbde76af813a94f47d">00064</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#aff7913b34a2ee2dbde76af813a94f47d">REG_MOTOR_MPOS</a>     = 0x0600; <span class="comment">// 1 byte per offset, positioning mode.</span>
<a name="l00065"></a><a class="code" href="config_8h.html#a272b0d9072163793a2d911555d2c1a96">00065</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a272b0d9072163793a2d911555d2c1a96">REG_MOTOR_OPM</a>      = 0x0700; <span class="comment">// 1 byte per offset, motor operating mode.</span>
<a name="l00066"></a><a class="code" href="config_8h.html#a9377caf31b895a0abea35b5f37622311">00066</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a9377caf31b895a0abea35b5f37622311">REG_MOTOR_SQPS</a>     = 0x0800; <span class="comment">// 1 byte per offset, sequential positioning.</span>
<a name="l00067"></a><a class="code" href="config_8h.html#a6cec9b600249544d4fdafffe1e73e058">00067</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a6cec9b600249544d4fdafffe1e73e058">REG_MOTOR_ACC</a>      = 0x0900; <span class="comment">// 2 bytes per offset, motor acceleration.</span>
<a name="l00068"></a><a class="code" href="config_8h.html#ae43e76c10d1dcc8e88ddba7588d5a702">00068</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#ae43e76c10d1dcc8e88ddba7588d5a702">REG_MOTOR_DEC</a>      = 0x0A00; <span class="comment">// 2 bytes per offset, motor deceleration.</span>
<a name="l00069"></a><a class="code" href="config_8h.html#a3a6fc2e1043089f33bae01112ca6a803">00069</a> <span class="keyword">const</span> uint16_t <a class="code" href="config_8h.html#a3a6fc2e1043089f33bae01112ca6a803">REG_MOTOR_DT</a>       = 0x0C01; <span class="comment">// 1 byte per offset, dwell time used for linked motions.</span>
<a name="l00070"></a>00070 
<a name="l00071"></a>00071 <span class="preprocessor">#endif</span>
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<a href="http://ros.org/wiki/par_trajectory_planning">par_trajectory_planning</a><br />
Author(s): Wouter van Teijlingen</br />
<small>autogenerated on Wed Jun 8 2011 17:11:45</small>
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